Argentina goalkeeper Sergio Romero saved penalties by Wesley Sneijder and Ron Vlaar to take his side through.
The South Americans play Germany in Rio de Janeiro on Sunday.
Penalties were required after the two sides were goalless after extra time, the first ever World Cup semi-final to produce no goals after 120 minutes.
Argentina went through after Maxi Rodriguez converted their fourth and decisive spot-kick to add to those converted by Messi, Ezequiel Garay and Sergio Aguero.
This will be the third time Argentina have faced Germany in the World Cup final after 1986 and 1990.
COMMENTS (7)
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@Agnostic Khan: Yeh Robben has developed a reputation, and even yesterday he committed this offence and managed to get a yellow card for his opponents. Plus Holland were using Rugby-style tackles without the referee doing anything, as Argentina have too much sportsman spirit to take dramatic falls on fouls.
The better team won.
I will miss Robin.
@QADRI THE GREAT: Qadri sb, u just came from Canada to bring 'revoultioiln' here. Just hold on to ur emtions.
Better luck next time, and food luck against Brazil. Argentina in final against Germany i guess Germany is going to win this time.
With à stronger side it was bad strategy by dutch to play so defensive
Wish i was in Brazil to watch finals